Compliant Needle Modeling and Steerable Insertion Simulation

Abstract

Needle based surgery is an important surgical technique for its minimally invasive interventions. The insertion of a long and slender needle into the complicated human body is a very challenging procedure. In this paper, a compliant needle is designed to facilitate the obstacle avoidance and path control that are inevitable in some surgical operations. During needle insertion, a magnetic force is employed to steer the compliant needle when needed. The steerable needle insertion process is simulated in a haptic system which can provide users both visual and haptic feedback.

Keywords:

• compliant needle
• needle insertion
• haptic simulation